teachpad_socket_listener.mod

VAR socketdev client_socket;
VAR string received_data;
VAR jointtarget target_joints;
VAR num joint_speed := 100;
VAR num joint_zone := 50;

PROC main()
    ! Create socket and bind to ABB’s IP
    SocketCreate client_socket;
    SocketBind client_socket, "192.168.125.1", 1025;
    SocketListen client_socket;

    WHILE TRUE DO
        SocketAccept client_socket;

        WHILE TRUE DO
            ! Read incoming command
            SocketRead client_socket, received_data;
            Write received_data;

            ! Handle "GET_STATE" command
            IF received_data = "GET_STATE" THEN
                VAR jointtarget current_joints := CRobT();
                SocketSend client_socket,
                    NumToStr(current_joints.robax.rax_1, 3) + "," +
                    NumToStr(current_joints.robax.rax_2, 3) + "," +
                    NumToStr(current_joints.robax.rax_3, 3) + "," +
                    NumToStr(current_joints.robax.rax_4, 3) + "," +
                    NumToStr(current_joints.robax.rax_5, 3) + "," +
                    NumToStr(current_joints.robax.rax_6, 3);

            ! Handle "EXECUTE_ACTION" command
            ELSEIF StrFind(received_data, "EXECUTE_ACTION", 1) > 0 THEN
                target_joints.robax.rax_1 := StrToVal(SplitStr(received_data, ","));
                target_joints.robax.rax_2 := StrToVal(SplitStr(received_data, ","));
                target_joints.robax.rax_3 := StrToVal(SplitStr(received_data, ","));
                target_joints.robax.rax_4 := StrToVal(SplitStr(received_data, ","));
                target_joints.robax.rax_5 := StrToVal(SplitStr(received_data, ","));
                target_joints.robax.rax_6 := StrToVal(SplitStr(received_data, ","));

                MoveJ target_joints, vjoint_speed, zjoint_zone, tool0;
                SocketSend client_socket, "Action Executed";
            ENDIF
        ENDFOR

        SocketClose client_socket;
    ENDWHILE
ENDPROC